In the episode where Fry makes the deal with the Devil, Leela loses her hearing. However, in the intermission Leela is talking to the robot devil. He doesn't have lips to read yet she can understand him perfectly.....
No, she can't hear. If you actually listened to the conversation, you'll realise she only picks up on his gestures and speaks to him that way, there's plenty she misses, for example when the robot devil says 'I can give you a pair of new robotic ears', gesturing to where his ears should be and she says, 'what, you can give me new ears?'.
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